Shaft hole assembly robot system based on RRT

The invention provides a shaft hole assembly robot system based on RRT, comprising: a mechanical arm comprising a plurality of joints and connecting rods connected with the joints so as to adjust the angle of the tail end of the mechanical arm within a preset range; the flexible end effector is mounted at the tail end of the mechanical arm and is used for grabbing the shaft hole part; and the controller is used for carrying out path planning on the mechanical arm based on an RRT algorithm and controlling operation of the mechanical arm and the flexible end executor so as to carry out high-precision assembling work on the shaft hole part. Through the flexible end executor, the assembly robot can accurately grab various target parts without damaging the target parts, the assembly robot can be suitable for assembly of the various target parts, and the replacement operation of the end executor is omitted; through the RRT algorithm of the controller, the path of the mechanical arm can be rapidly and accurately pla